Design And Key Technology Research Of Hull Painting Wall Climbing Robot

With the continuous development of economic globalization,maritime transportation has gradually become one of the most important transportation methods due to its advantages such as large transportation volume and low cost.Therefore,the demand for ship manufacturing and maintenance is also increasing.The painting operation on the surface of ships,as an important part of the shipbuilding process,is of great significance for ships to resist seawater erosion.In order to ensure the safe operation and service life of the ship,it is necessary to regularly spray paint and anti-corrosion work on the ship.At present,traditional manual painting operations not only greatly increase the cost of shipbuilding,but also cannot guarantee the quality and efficiency of painting itself.Based on this current situation,this article designs a wall climbing robot that can be adsorbed on the surface of ships and equipped with painting equipment to replace manual painting operations and improve painting quality.The specific research content of this article is as follows:By analyzing the current research status and future development trends of wall climbing robots both domestically and internationally,combined with the process requirements of traditional industrial spraying guns and ship exterior panel painting,a new type of ship hull painting wall climbing robot is proposed,and the overall mechanical system design of the painting wall climbing robot is carried out;Detailed design of the key components of the wall climbing robot,such as the suspended magnetic adsorption walking mechanism,magnetic adsorption driven wheel,and painting execution mechanism,and strength analysis of the driving components using ANSYS software.We have conducted research on the design and optimization of the core component permanent magnet adsorption module.Based on the static force situation of the wall climbing robot,establish two failure models: anti overturning and anti sliding;Design a magnetic adsorption module based on Halbach array,and use Maxwell software to simulate and compare different magnetic circuits to verify the advantages of Halbach array magnetic circuits;By studying the magnetic circuit of the Halbach array,an optimization model for the adsorption unit is established,and the geometric parameters of the adsorption unit are optimized to obtain the optimal parameters of the magnetic adsorption module that meet the adsorption force requirements,thereby improving the adsorption efficiency of the adsorption module.Based on the mechanical structure of the designed spray painting wall climbing robot,performance analysis is conducted on the motion of the spray painting wall climbing robot.Analyze the driving performance of wall climbing robots in three motion states: uniform climbing,horizontal motion,and turning;The kinematics model of the wall climbing robot is established based on the theory of rigid body translation,and its dynamics model is established based on Lagrange equation;Simulate and analyze the motion of a wall climbing robot using Adams software,and study its dynamic performance under different working states.Finally,based on the motion and painting operation requirements of the marine spray painting wall climbing robot,the overall control plan of the wall climbing robot is provided,and the design of the control system is completed;Study the principle and implementation process of fuzzy PID algorithm,design a fuzzy PID control algorithm for spray painting climbing robot,and use Simulink software to simulate and analyze the control system;The main controller of STM32F407 chip is equipped with hardware modules,and the hardware design and selection of key modules are completed using Altium Designer software;And the design of communication system and corresponding module selection;Using module design ideas to achieve control system software and upper computer interface design,enabling coordinated work between various modules.